Sungwoo Kim
/
HydraulicControlBoard_PostLIGHT_210420
LIGHT2
Diff: function_utilities/function_utilities.cpp
- Revision:
- 239:8ac5c6162bc1
- Parent:
- 238:4e660aa77eb7
- Child:
- 240:c93d3eabff75
- Child:
- 241:fb5b57e3f157
diff -r 4e660aa77eb7 -r 8ac5c6162bc1 function_utilities/function_utilities.cpp --- a/function_utilities/function_utilities.cpp Tue Jul 13 01:40:56 2021 +0000 +++ b/function_utilities/function_utilities.cpp Fri Jul 30 06:04:10 2021 +0000 @@ -41,8 +41,8 @@ float I_GAIN_JOINT_TORQUE_FF = 0.0f; float D_GAIN_JOINT_TORQUE_FF = 0.0f; -int16_t K_SPRING = 0.0; -int16_t D_DAMPER = 0.0; +int16_t K_SPRING = 0; +int16_t D_DAMPER = 0; int16_t flag_delay_test = 0; @@ -242,6 +242,7 @@ float joint_pos_err = 0.0f, joint_pos_err_old = 0.0f, joint_pos_err_diff = 0.0f, joint_pos_err_diff_fil = 0.0f, joint_pos_err_sum = 0.0f; float joint_torq_err = 0.0f, joint_torq_err_old = 0.0f, joint_torq_err_diff = 0.0f, joint_torq_err_sum = 0.0f; float VALVE_PWM_RAW_POS = 0.0f, VALVE_PWM_RAW_TORQ = 0.0f; +float force_ref_filter = 0.0f; float CUR_FLOWRATE = 0.0f; float VALVE_FF_VOLTAGE = 0.0f;